Presentation #23:Remote Control and Monitoring of MOOS Vehicles through Cellular Modems

P. Sammut, M. Tsionskiy, A. Sedunov, Dr. J. Dzielski, M. DeLorme

New York HarborObserving and Prediction System (NYHOPS)

Current system+1 Hour+2 Hours+3 Hours+4 Hours

Means of vehicle communications• Wifi

– Short range, useless after vehicle is deployed

• Acomms– Limited range (best range we got

was 300 meters)– Shallow water multi-path

problems– Not a viable long-range form of

communication• Cellular Modem

– Excellent coverage in the lower Hudson River Area

– Good data-rate speeds for Internet connection

– Viable option

Cellular Reception Signal logged on-board a UUV

Cellular Antenna

Cell Connection Process

Graphical interface capabilities• Mapping

– Geo-referenced nautical charts;– Zooming, moving;

• Mission planning– Graphically creating UUV mission on the map;– Adjusting all parameters of any step of a mission;– Saving and loading existing missions;

• Communicating with MOOS– Sending mission commands to MOOS DB;– Reading values of selected MOOS variables;– Plotting GPS coordinates of UUVs on the map.

Mapping and geo-referencing selected region

Creating or loading mission for UUV

Adjusting and organizing mission parameters

Receiving data from MOOS DB

Plotting GPS tracks of UUV and comparing themagainst required mission

Current Capabilities

• MOOS has allowed for:– Simple communication to a vehicle and the ability to

monitor/change all program variables– Portable platform allowing us to have many different

types of vehicles with only one set of control software• Remote Control through cellular internet

connection with MOOS allowing:– Sending of a complete mission package to a vehicle

that is currently underway– Receiving up-to-date scientific data

Acknowledgements

• This work would have been impossible without the efforts of Paul Newman and all the contributors to MOOS development.

• This work was supported by ONR project #N00014-05-1-0632: Navy Force Protection Technology Assessment Project.